The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 16, 2015
Filed:
Aug. 26, 2011
Suk June Yoon, Seoul, KR;
Kyung Shik Roh, Seongnam-si, KR;
Seung Yong Hyung, Yongin-si, KR;
Hyo Seok Hwang, Seoul, KR;
Sung Hwan Ahn, Anyang-Si, KR;
Suk June Yoon, Seoul, KR;
Kyung Shik Roh, Seongnam-si, KR;
Seung Yong Hyung, Yongin-si, KR;
Hyo Seok Hwang, Seoul, KR;
Sung Hwan Ahn, Anyang-Si, KR;
Abstract
A simultaneous localization and map building method of a mobile robot including an omni-directional camera. The method includes acquiring an omni-directional image from the omni-directional camera, dividing the obtained omni-directional image into upper and lower images according to a preset reference to generate a first image, which is the lower image, and a second image, which is the upper image, extracting feature points from the first image and calculating visual odometry information calculating visual odometry information to track locations of the extracted feature points based on a location of the omni-directional camera, and performing localization and map building of the mobile robot using the calculated visual odometry information and the second image as an input of an extended Kalman filter.